中文版 | English
Title

A repelling-screw-based approach for the construction of generalized Jacobian matrices for nonredundant parallel manipulators

Author
Corresponding AuthorQiu,Chen
Publication Years
2022-10-01
DOI
Source Title
ISSN
0094-114X
EISSN
1873-3999
Volume176
Abstract
This paper presents a unified and generalized approach for the construction of Jacobian matrices for general, nonredundant parallel manipulators that possess serial and/or mixed-topology limbs. Using linear algebra, a method for the calculation of repelling screws is proposed, based upon which the underlying correlations amongst the screws (twists and wrenches) that correspond to both the permitted, and constrained, motions of general mechanisms are identified and analyzed. The effect of linear combinations on the repelling screw system is revealed, and further used to determine the constraint wrenches/twists of a parallel manipulator and its limbs. By means of utilising repelling screws, the dualities in parallel and serial mechanisms are revisited and extended. Furthermore, a simple and unified method for the identification of unknown twists and wrenches is proposed, based upon which an intuitive and systematic approach for the formulation of generalized Jacobian matrices for nonredundant parallel manipulators is derived. The generalized multilevel hierarchical Jacobian contains complete constraint, singularity, kinematics, and statics information at both limb and platform levels. A number of provided examples demonstrate the effectiveness and application of the proposed approach.
Keywords
URL[Source Record]
Indexed By
SCI ; EI
Language
English
SUSTech Authorship
Others
WOS Research Area
Engineering
WOS Subject
Engineering, Mechanical
WOS Accession No
WOS:000862939600003
Publisher
EI Accession Number
20223112468569
EI Keywords
Jacobian matrices ; Manipulators ; Mechanisms ; Tools
ESI Classification Code
Mechanisms:601.3 ; Small Tools and Hardware:605 ; Algebra:921.1
ESI Research Field
ENGINEERING
Scopus EID
2-s2.0-85135110097
Data Source
Scopus
Citation statistics
Cited Times [WOS]:3
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/365030
DepartmentSouthern University of Science and Technology
Affiliation
1.Centre for Robotics Research,King's College London,London,WC2R 2LS,United Kingdom
2.School of Mechanical Engineering,Zhejiang University,Hangzhou,310027,China
3.Maider Medical Industry Equipment Co.,ltd.,China
4.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,SUSTech Institute of Robotics,Southern University of Science and Technology,Shenzhen,518055,China
Recommended Citation
GB/T 7714
Wang,Kun,Dong,Huixu,Spyrakos-Papastavridis,Emmanouil,et al. A repelling-screw-based approach for the construction of generalized Jacobian matrices for nonredundant parallel manipulators[J]. MECHANISM AND MACHINE THEORY,2022,176.
APA
Wang,Kun,Dong,Huixu,Spyrakos-Papastavridis,Emmanouil,Qiu,Chen,&Dai,Jian S..(2022).A repelling-screw-based approach for the construction of generalized Jacobian matrices for nonredundant parallel manipulators.MECHANISM AND MACHINE THEORY,176.
MLA
Wang,Kun,et al."A repelling-screw-based approach for the construction of generalized Jacobian matrices for nonredundant parallel manipulators".MECHANISM AND MACHINE THEORY 176(2022).
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